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Closer to final version

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This commit is contained in:
Hakan Bastedt
2025-01-14 10:41:19 +01:00
parent 3e76263177
commit 040ea4ab61
9 changed files with 218 additions and 740 deletions
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665
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/MetalMusings_EaserCAT_6000.xml
View File

@@ -8,12 +8,12 @@
<Groups>
<Group>
<Type>MachineControl</Type>
<Name LcId="1033">Incremental encoder</Name>
<Name LcId="1033">Plasma cutter</Name>
</Group>
</Groups>
<Devices>
<Device Physics="YY ">
<Type ProductCode="#xcadcaf" RevisionNo="#x3">EaserCAT 6000</Type>
<Type ProductCode="#x6000" RevisionNo="#x2">EaserCAT 6000</Type>
<Name LcId="1033">MetalMusings EaserCAT 6000</Name>
<GroupType>MachineControl</GroupType>
<Profile>
@@ -77,7 +77,7 @@
</DataType>
<DataType>
<Name>DT1600</Name>
<BitSize>144</BitSize>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -90,7 +90,7 @@
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>New array subitem</Name>
<Name>Output4</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
@@ -98,40 +98,10 @@
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</Name>
<BitSize>400</BitSize>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -144,7 +114,7 @@
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>New array subitem</Name>
<Name>Input12</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
@@ -152,116 +122,6 @@
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>272</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>304</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>336</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>New array subitem</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>368</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A01</Name>
@@ -287,6 +147,30 @@
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A02</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Frequency</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C00ARR</Name>
<BaseType>USINT</BaseType>
@@ -354,15 +238,15 @@
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>32</BitSize>
<BitSize>48</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
<Elements>3</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C13</Name>
<BitSize>48</BitSize>
<BitSize>64</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -376,79 +260,13 @@
<SubItem>
<Name>Elements</Name>
<Type>DT1C13ARR</Type>
<BitSize>32</BitSize>
<BitSize>48</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6000ARR</Name>
<BaseType>BOOL</BaseType>
<BitSize>12</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>12</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT6000</Name>
<BitSize>28</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT6000ARR</Type>
<BitSize>12</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT7000ARR</Name>
<BaseType>BOOL</BaseType>
<BitSize>4</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>4</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT7000</Name>
<BitSize>20</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT7000ARR</Type>
<BitSize>4</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>UDINT</Name>
<BitSize>32</BitSize>
@@ -474,8 +292,8 @@
<BitSize>32</BitSize>
</DataType>
<DataType>
<Name>BOOL</Name>
<BitSize>1</BitSize>
<Name>DINT</Name>
<BitSize>32</BitSize>
</DataType>
</DataTypes>
<Objects>
@@ -550,13 +368,13 @@
<SubItem>
<Name>Product Code</Name>
<Info>
<DefaultValue>13294767</DefaultValue>
<DefaultValue>24576</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Revision Number</Name>
<Info>
<DefaultValue>3</DefaultValue>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -572,38 +390,20 @@
</Object>
<Object>
<Index>#x1600</Index>
<Name>Output</Name>
<Name>Output4</Name>
<Type>DT1600</Type>
<BitSize>144</BitSize>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>4</DefaultValue>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Name>Output4</Name>
<Info>
<DefaultValue>#x70000101</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x70000201</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x70000301</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x70000401</DefaultValue>
<DefaultValue>#x70000008</DefaultValue>
</Info>
</SubItem>
</Info>
@@ -613,86 +413,20 @@
</Object>
<Object>
<Index>#x1A00</Index>
<Name>Input</Name>
<Name>Input12</Name>
<Type>DT1A00</Type>
<BitSize>400</BitSize>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>12</DefaultValue>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Name>Input12</Name>
<Info>
<DefaultValue>#x60000101</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000201</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000301</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000401</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000501</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000601</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000701</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000801</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000901</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000a01</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000b01</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>#x60000c01</DefaultValue>
<DefaultValue>#x60000020</DefaultValue>
</Info>
</SubItem>
</Info>
@@ -723,6 +457,29 @@
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A02</Index>
<Name>Frequency</Name>
<Type>DT1A02</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Frequency</Name>
<Info>
<DefaultValue>#x60020020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1C00</Index>
<Name>Sync Manager Communication Type</Name>
@@ -791,12 +548,12 @@
<Index>#x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name>
<Type>DT1C13</Type>
<BitSize>48</BitSize>
<BitSize>64</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>2</DefaultValue>
<DefaultValue>3</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -811,6 +568,12 @@
<DefaultValue>#x1A01</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A02</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -830,91 +593,15 @@
</Object>
<Object>
<Index>#x6000</Index>
<Name>Input</Name>
<Type>DT6000</Type>
<BitSize>28</BitSize>
<Name>Input12</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>12</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
@@ -931,44 +618,29 @@
</Flags>
</Object>
<Object>
<Index>#x7000</Index>
<Name>Output</Name>
<Type>DT7000</Type>
<BitSize>20</BitSize>
<Index>#x6002</Index>
<Name>Frequency</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>New array subitem</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x7000</Index>
<Name>Output4</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
</Objects>
@@ -983,122 +655,24 @@
<Sm StartAddress="#x1A00" ControlByte="#x20" Enable="1">Inputs</Sm>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1600</Index>
<Name>Output</Name>
<Name>Output4</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>#x1</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>#x2</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>#x3</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>#x4</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
<SubIndex>#x0</SubIndex>
<BitLen>8</BitLen>
<Name>Output4</Name>
<DataType>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index>
<Name>Input</Name>
<Name>Input12</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x1</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x2</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x3</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x4</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x5</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x6</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x7</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x8</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x9</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#xa</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#xb</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>#xc</SubIndex>
<BitLen>1</BitLen>
<Name>New array subitem</Name>
<DataType>BOOL</DataType>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>Input12</Name>
<DataType>DINT</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1112,8 +686,19 @@
<DataType>REAL</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A02</Index>
<Name>Frequency</Name>
<Entry>
<Index>#x6002</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>Frequency</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<CoE SdoInfo="true" PdoAssign="true" PdoConfig="true" PdoUpload="true" CompleteAccess="false" />
<CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
</Mailbox>
<Dc>
<OpMode>

4
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/ecat_options.h
View File

@@ -33,8 +33,8 @@
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 4
#define MAX_MAPPINGS_SM3 13
#define MAX_MAPPINGS_SM2 1
#define MAX_MAPPINGS_SM3 3
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512

BIN
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/eeprom.bin
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Binary file not shown.

4
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/eeprom.hex
View File

@@ -1,10 +1,10 @@
:2000000080060344640000000000000000001400AA0A0000AFDCCA0003000000010000008E
:2000000080060344640000000000000000001400AA0A000000600000020000000100000084
:20002000000000000000000000000000000000000010000200120002040000000000000096
:200040000000000000000000000000000000000000000000000000000000000000000000A0
:20006000000000000000000000000000000000000000000000000000000000000F00010070
:200080000A002000040D456173657243415420363030300E4D616368696E65436F6E7472AE
:2000A0006F6C06494D474342591A4D6574616C4D7573696E677320456173657243415420A9
:2000C000363030301E00100002030104001F000000000000000000001100000000000000F2
:2000C000363030301E001000020301040013000000000000000000001100000000000000FE
:2000E000000000000000000028000200010203002900100000100002260001010012000249
:20010000220001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFFFFF49
:20012000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDF

122
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/esi.json
View File

@@ -2,9 +2,9 @@
"form": {
"VendorName": "MetalMusings",
"VendorID": "0xaaa",
"ProductCode": "0xcadcaf",
"ProductCode": "0x6000",
"ProfileNo": "5001",
"RevisionNumber": "0x003",
"RevisionNumber": "0x002",
"SerialNumber": "0x001",
"HWversion": "0.0.1",
"SWversion": "0.0.1",
@@ -15,7 +15,7 @@
"SM2Offset": "0x1600",
"SM3Offset": "0x1A00",
"TextGroupType": "MachineControl",
"TextGroupName5": "Incremental encoder",
"TextGroupName5": "Plasma cutter",
"ImageName": "IMGCBY",
"TextDeviceType": "EaserCAT 6000",
"TextDeviceName": "MetalMusings EaserCAT 6000",
@@ -71,78 +71,15 @@
"data": "&Obj.EncFrequency"
},
"6000": {
"otype": "ARRAY",
"name": "Input",
"otype": "VAR",
"name": "Input12",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "New array subitem",
"data": "&Obj.Input[0]",
"value": "0"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[1]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[2]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[3]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[4]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[5]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[6]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[7]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[8]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[9]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[10]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Input[11]"
}
],
"pdo_mappings": [
"txpdo"
],
"dtype": "BOOLEAN"
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.Input12"
},
"6001": {
"otype": "VAR",
@@ -154,41 +91,30 @@
"dtype": "REAL32",
"value": "0",
"data": "&Obj.Velocity"
},
"6002": {
"otype": "VAR",
"name": "Frequency",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.Frequency"
}
},
"rxpdo": {
"7000": {
"otype": "ARRAY",
"name": "Output",
"otype": "VAR",
"name": "Output4",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "New array subitem",
"data": "&Obj.Output[0]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Output[1]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Output[2]"
},
{
"name": "New array subitem",
"value": "0",
"data": "&Obj.Output[3]"
}
],
"pdo_mappings": [
"rxpdo"
],
"dtype": "BOOLEAN"
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Output4"
},
"60664": {
"otype": "VAR",

119
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/objectlist.c
View File

@@ -13,29 +13,18 @@ static const char acName1018_01[] = "Vendor ID";
static const char acName1018_02[] = "Product Code";
static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial Number";
static const char acName1600[] = "Output";
static const char acName1600[] = "Output4";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "New array subitem";
static const char acName1600_02[] = "New array subitem";
static const char acName1600_03[] = "New array subitem";
static const char acName1600_04[] = "New array subitem";
static const char acName1A00[] = "Input";
static const char acName1600_01[] = "Output4";
static const char acName1A00[] = "Input12";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "New array subitem";
static const char acName1A00_02[] = "New array subitem";
static const char acName1A00_03[] = "New array subitem";
static const char acName1A00_04[] = "New array subitem";
static const char acName1A00_05[] = "New array subitem";
static const char acName1A00_06[] = "New array subitem";
static const char acName1A00_07[] = "New array subitem";
static const char acName1A00_08[] = "New array subitem";
static const char acName1A00_09[] = "New array subitem";
static const char acName1A00_0a[] = "New array subitem";
static const char acName1A00_0b[] = "New array subitem";
static const char acName1A00_0c[] = "New array subitem";
static const char acName1A00_01[] = "Input12";
static const char acName1A01[] = "Velocity";
static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "Velocity";
static const char acName1A02[] = "Frequency";
static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "Frequency";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
@@ -49,28 +38,12 @@ static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
static const char acName1C13_02[] = "PDO Mapping";
static const char acName1C13_03[] = "PDO Mapping";
static const char acName2000[] = "VelocityScale";
static const char acName6000[] = "Input";
static const char acName6000_00[] = "Max SubIndex";
static const char acName6000_01[] = "New array subitem";
static const char acName6000_02[] = "New array subitem";
static const char acName6000_03[] = "New array subitem";
static const char acName6000_04[] = "New array subitem";
static const char acName6000_05[] = "New array subitem";
static const char acName6000_06[] = "New array subitem";
static const char acName6000_07[] = "New array subitem";
static const char acName6000_08[] = "New array subitem";
static const char acName6000_09[] = "New array subitem";
static const char acName6000_0a[] = "New array subitem";
static const char acName6000_0b[] = "New array subitem";
static const char acName6000_0c[] = "New array subitem";
static const char acName6000[] = "Input12";
static const char acName6001[] = "Velocity";
static const char acName7000[] = "Output";
static const char acName7000_00[] = "Max SubIndex";
static const char acName7000_01[] = "New array subitem";
static const char acName7000_02[] = "New array subitem";
static const char acName7000_03[] = "New array subitem";
static const char acName7000_04[] = "New array subitem";
static const char acName6002[] = "Frequency";
static const char acName7000[] = "Output4";
const _objd SDO1000[] =
{
@@ -92,39 +65,30 @@ const _objd SDO1018[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 13294767, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 3, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 24576, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
};
const _objd SDO1600[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000101, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_02, 0x70000201, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_03, 0x70000301, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_04, 0x70000401, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000008, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 12, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000101, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_02, 0x60000201, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_03, 0x60000301, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_04, 0x60000401, NULL},
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_05, 0x60000501, NULL},
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_06, 0x60000601, NULL},
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_07, 0x60000701, NULL},
{0x08, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_08, 0x60000801, NULL},
{0x09, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_09, 0x60000901, NULL},
{0x0a, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_0a, 0x60000a01, NULL},
{0x0b, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_0b, 0x60000b01, NULL},
{0x0c, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_0c, 0x60000c01, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
};
const _objd SDO1A01[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
};
const _objd SDO1A02[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
};
const _objd SDO1C00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -140,9 +104,10 @@ const _objd SDO1C12[] =
};
const _objd SDO1C13[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 2, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 3, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
};
const _objd SDO2000[] =
{
@@ -150,31 +115,19 @@ const _objd SDO2000[] =
};
const _objd SDO6000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 12, NULL},
{0x01, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_01, 0, &Obj.Input[0]},
{0x02, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_02, 0, &Obj.Input[1]},
{0x03, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_03, 0, &Obj.Input[2]},
{0x04, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_04, 0, &Obj.Input[3]},
{0x05, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_05, 0, &Obj.Input[4]},
{0x06, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_06, 0, &Obj.Input[5]},
{0x07, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_07, 0, &Obj.Input[6]},
{0x08, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_08, 0, &Obj.Input[7]},
{0x09, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_09, 0, &Obj.Input[8]},
{0x0a, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_0a, 0, &Obj.Input[9]},
{0x0b, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_0b, 0, &Obj.Input[10]},
{0x0c, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_0c, 0, &Obj.Input[11]},
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.Input12},
};
const _objd SDO6001[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.Velocity},
};
const _objd SDO6002[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.Frequency},
};
const _objd SDO7000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 4, NULL},
{0x01, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_01, 0, &Obj.Output[0]},
{0x02, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_02, 0, &Obj.Output[1]},
{0x03, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_03, 0, &Obj.Output[2]},
{0x04, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_04, 0, &Obj.Output[3]},
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.Output4},
};
const _objectlist SDOobjects[] =
@@ -184,15 +137,17 @@ const _objectlist SDOobjects[] =
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x1600, OTYPE_RECORD, 4, 0, acName1600, SDO1600},
{0x1A00, OTYPE_RECORD, 12, 0, acName1A00, SDO1A00},
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 2, 0, acName1C13, SDO1C13},
{0x1C13, OTYPE_ARRAY, 3, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000},
{0x6000, OTYPE_ARRAY, 12, 0, acName6000, SDO6000},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
{0x7000, OTYPE_ARRAY, 4, 0, acName7000, SDO7000},
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

5
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/utypes.h
View File

@@ -13,12 +13,13 @@ typedef struct
/* Inputs */
uint8_t Input[12];
int32_t Input12;
float Velocity;
uint32_t Frequency;
/* Outputs */
uint8_t Output[4];
uint8_t Output4;
/* Parameters */

2
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/platformio.ini
View File

@@ -15,7 +15,7 @@ board = genericSTM32F407VGT6
upload_protocol = stlink
debug_tool = stlink
debug_build_flags = -O0 -g -ggdb
monitor_port = COM3
monitor_port = COM9
monitor_filters = send_on_enter, time, colorize, log2file
monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment

37
Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/src/main.cpp
View File

@@ -32,23 +32,29 @@ HardwareTimer *EncoderTimer;
void InputCapture_IT_callback(void);
void Rollover_IT_callback(void);
#define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
#define bitcheck(byte, nbit) ((byte) & (1 << (nbit)))
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
{
// Update digital pins
for (int i = 0; i < sizeof(outputPin); i++)
{
digitalWrite(outputPin[i], Obj.Output[i]);
}
digitalWrite(outputPin[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
for (int i = 0; i < sizeof(inputPin); i++)
Obj.Input[i] = digitalRead(inputPin[i]);
Obj.Velocity = Obj.VelocityScale * FrequencyMeasured;
Obj.Input12 = digitalRead(inputPin[i]) == HIGH ? bitset(Obj.Input12, i) : bitclear(Obj.Input12, i);
float scale = Obj.VelocityScale;
if (scale == 0.0)
scale = 1.0;
Obj.Velocity = scale * FrequencyMeasured;
Obj.Frequency = FrequencyMeasured;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -95,6 +101,14 @@ void setup(void)
pinMode(outputPin[i], OUTPUT);
digitalWrite(outputPin[i], LOW);
}
pinMode(PB4, OUTPUT);
pinMode(PB5, OUTPUT);
pinMode(PB6, OUTPUT);
pinMode(PB7, OUTPUT);
digitalWrite(PB4, HIGH);
digitalWrite(PB5, HIGH);
digitalWrite(PB6, HIGH);
digitalWrite(PB7, HIGH);
// Automatically retrieve TIM instance and channel associated to pin
// This is used to be compatible with all STM32 series automatically.
@@ -112,6 +126,8 @@ void setup(void)
// To reduce minimum frequency, it is possible to increase prescaler. But this is at a cost of precision.
// The maximum frequency depends on processing of the interruption and thus depend on board used
// Example on Nucleo_L476RG with systemClock at 80MHz the interruption processing is around 4,5 microseconds and thus Max frequency is around 220kHz
// A 16 bit timer is ok (but I use a 32-bit). Can measure down to 2.8 kHz, which is lower than 0 Volt on my card (3.8 kHz)
uint32_t PrescalerFactor = 1;
EncoderTimer->setPrescaleFactor(PrescalerFactor);
EncoderTimer->setOverflow(0xFFFFFFF0); // Max Period value to have the largest possible time to detect rising edge and avoid timer rollover
@@ -128,7 +144,6 @@ void setup(void)
void loop(void)
{
#if 0 // Sync 0 mode
uint64_t dTime;
if (serveIRQ)
{
@@ -139,12 +154,8 @@ void loop(void)
ecat_slv_poll();
}
dTime = longTime.extendTime(micros()) - irqTime;
if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll();
#else // Freerun mode
ecat_slv();
#endif
if (dTime > 5000) // Not doing interrupts - handle free-run
ecat_slv();
}
void sync0Handler(void)